基于过驱动飞行器的主动全向滑动实现多功能机载超声无损检测技术
Versatile Airborne Ultrasonic NDT Technologies via Active Omni-Sliding with Over-Actuated Aerial Vehicles
AI总结：
本文提出一种基于过驱动飞行器的全向滑动载荷，结合全向轮主动末端执行器和EMAT，实现无需重新接近表面的多点测量与任意方向动态超声扫描，并通过Voliro T平台实验验证了壁面滑动和超声检测性能。
摘要：
本文介绍了在空中操作中利用先进方法来解决有意义的工业应用，并利用空中机器人开发多功能超声无损检测（NDT）技术。这项工作的主要目标是：通过滑动实现多点测量而无需重新接近工作表面，并通过在任意方向（即全向）上的动态扫描，以B扫描和C扫描表示材料厚度。为了实现这些目标，为过驱动飞行器设计了一种能够全向滑动的载荷（本文称之为全向滑动载荷），确保真正全向的滑动移动性，同时在与平坦工作表面接触时施加一致的力。该全向滑动载荷配备了一个基于全向轮的主动末端执行器和一个电磁声换能器（EMAT）。此外，为确保所设计载荷的成功开发以及与飞行器的集成，本文对主动滑动过程中的接触条件和系统动力学进行了全面研究，并将推导出的系统约束随后用作硬件开发和控制的指导原则。所提出的方法通过实验进行了验证，包括壁面滑动任务和采用空中平台Voliro T进行的超声检测（UT）动态扫描。
英文摘要：
This paper presents the utilization of advanced methodologies in aerial manipulation to address meaningful industrial applications and develop versatile ultrasonic Non-Destructive Testing (NDT) technologies with aerial robots. The primary objectives of this work are to enable multi-point measurements through sliding without re-approaching the work surface, and facilitate the representation of material thickness with B and C scans via dynamic scanning in arbitrary directions (i.e. omnidirections). To accomplish these objectives, a payload that can slide in omnidirections (here we call the omni-sliding payload) is designed for an over-actuated aerial vehicle, ensuring truly omnidirectional sliding mobility while exerting consistent forces in contact with a flat work surface. The omni-sliding payload is equipped with an omniwheel-based active end-effector and an Electro Magnetic Acoustic Transducer (EMAT). Furthermore, to ensure successful development of the designed payload and integration with the aerial vehicle, a comprehensive studying on contact conditions and system dynamics during active sliding is presented, and the derived system constraints are later used as guidelines for the hardware development and control setting. The proposed methods are validated through experiments, encompassing both the wall-sliding task and dynamic scanning for Ultrasonic Testing (UT), employing the aerial platform - Voliro T.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
